Advanced Lane Finding Project¶
The goals / steps of this project are the following:
- Compute the camera calibration matrix and distortion coefficients given a set of chessboard images.
- Apply a distortion correction to raw images.
- Use color transforms, gradients, etc., to create a thresholded binary image.
- Apply a perspective transform to rectify binary image ("birds-eye view").
- Detect lane pixels and fit to find the lane boundary.
- Determine the curvature of the lane and vehicle position with respect to center.
- Warp the detected lane boundaries back onto the original image.
- Output visual display of the lane boundaries and numerical estimation of lane curvature and vehicle position.
Import Packages¶
In [1]:
#importing some useful packages
import matplotlib.pyplot as plt
import matplotlib.image as mpimg
import numpy as np
import cv2
import glob
import pickle
import sys, os
%matplotlib inline
Camera Calibration¶
In [2]:
global show_debug_info
show_debug_info = False
nx = 9 # the number of inside corners in x
ny = 6 # the number of inside corners in y
calib_file_name = 'calib_file.p'
# Define conversions in x and y from pixels space to meters
# unit conversion estimated from image './test_images/unit_conversion.jpg'
ym_per_pix = 3. / 69 # meters per pixel in y dimension
xm_per_pix = 3.7 / 253 # meters per pixel in x dimension
M = []
M_inv = []
In [3]:
def GenCalibData(nx, ny):
imgpoints = []
objpoints = []
images = []
objp = np.zeros((nx * ny, 3), np.float32)
objp[:, :2] = np.mgrid[:nx, :ny].T.reshape(-1, 2)
for file in glob.glob("./camera_cal/calibration*.jpg"):
print(file)
img = cv2.imread(file)
images.append(img)
img_grey = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ret, corners = cv2.findChessboardCorners(img_grey, (nx, ny), None)
if ret == True:
imgpoints.append(corners)
objpoints.append(objp)
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, img_grey.shape[::-1], None, None)
for img in images:
undist = cv2.undistort(img, mtx, dist, None, mtx)
plt.imshow(img)
plt.show()
plt.imshow(undist)
plt.show()
dict = {'mtx': mtx, 'dist': dist}
output = open(calib_file_name, 'wb')
pickle.dump(dict, output)
output.close()
# Do camera calibration using given images
GenCalibData(nx, ny)
In [4]:
# Load mtx & dist from file
dist_pickle = pickle.load( open( calib_file_name, "rb" ) )
mtx = dist_pickle["mtx"]
dist = dist_pickle["dist"]
print(mtx)
print(dist)
In [5]:
def DrawInfoOri(img_ori, left_fit, right_fit, M_inv):
ploty = np.linspace(0, img_ori.shape[0]-1, img_ori.shape[0])
img_poly = np.zeros_like(img_ori)
left_fitx = left_fit[0]*ploty**2 + left_fit[1]*ploty + left_fit[2]
right_fitx = right_fit[0]*ploty**2 + right_fit[1]*ploty + right_fit[2]
pts_left = np.array([np.transpose(np.vstack([left_fitx, ploty]))])
pts_right = np.array([np.flipud(np.transpose(np.vstack([right_fitx, ploty])))])
pts = np.hstack((pts_left, pts_right))
cv2.fillPoly(img_poly, np.int_([pts]), (0,255, 0))
cv2.polylines(img_poly, np.int32([pts_left]), isClosed=False, color=(255,0,0), thickness=15)
cv2.polylines(img_poly, np.int32([pts_right]), isClosed=False, color=(0,0,255), thickness=15)
img_size = (cols, rows)
img_poly = cv2.warpPerspective(img_poly, M_inv, img_size, flags=cv2.INTER_LINEAR)
output = cv2.addWeighted(img_ori, 1, img_poly, 0.5, 0)
return output
In [6]:
def CarDeviation(center_x, left_fit, right_fit):
ploty = img.shape[0]
left_fitx = left_fit[0]*ploty**2 + left_fit[1]*ploty + left_fit[2]
right_fitx = right_fit[0]*ploty**2 + right_fit[1]*ploty + right_fit[2]
# print(left_fitx, right_fitx)
if show_debug_info:
if center_x >= left_fitx and center_x <= right_fitx:
fit_meanx = float((left_fitx + right_fitx) * 0.5)
if fit_meanx > center_x:
print('Car is ' + str((fit_meanx - center_x) * xm_per_pix) + ' m left to center')
elif center_x > fit_meanx:
print('Car is ' + str((center_x - fit_meanx) * xm_per_pix) + ' m right to center')
else:
print('Car is on the center!')
else:
print('Car is unknown!!!')
In [7]:
global left_history, right_history
left_history = []
right_history = []
def FindCurvature(left_fit, right_fit, ploty):
# check history
dev = 0
for i in range(len(left_history)):
dev = dev + np.sum((left_fit - left_history[i]) ** 2) ** 0.5 + np.sum((right_fit - right_history[i]) ** 2) ** 0.5
# print(dev)
if dev > 10.:
left_fit = left_history[-1]
right_fit = right_history[-1]
left_history.append(left_fit)
right_history.append(right_fit)
if len(left_history) > 10:
left_history.pop(0)
right_history.pop(0)
# Define y-value where we want radius of curvature
# I'll choose the maximum y-value, corresponding to the bottom of the image
y_eval = np.max(ploty)
left_curverad = ((1 + (2*left_fit[0]*y_eval + left_fit[1])**2)**1.5) / np.absolute(2*left_fit[0])
right_curverad = ((1 + (2*right_fit[0]*y_eval + right_fit[1])**2)**1.5) / np.absolute(2*right_fit[0])
# print(left_curverad, right_curverad)
# Fit new polynomials to x,y in world space
left_fitx = left_fit[0]*ploty**2 + left_fit[1]*ploty + left_fit[2]
right_fitx = right_fit[0]*ploty**2 + right_fit[1]*ploty + right_fit[2]
left_fit_cr = np.polyfit(ploty*ym_per_pix, left_fitx*xm_per_pix, 2)
right_fit_cr = np.polyfit(ploty*ym_per_pix, right_fitx*xm_per_pix, 2)
# Calculate the new radii of curvature
left_curverad = ((1 + (2*left_fit_cr[0]*y_eval*ym_per_pix + left_fit_cr[1])**2)**1.5) / np.absolute(2*left_fit_cr[0])
right_curverad = ((1 + (2*right_fit_cr[0]*y_eval*ym_per_pix + right_fit_cr[1])**2)**1.5) / np.absolute(2*right_fit_cr[0])
# Now our radius of curvature is in meters
if show_debug_info:
print(left_curverad, 'm', right_curverad, 'm')
return left_curverad, right_curverad, left_fitx, right_fitx
In [8]:
def SWS(binary_warped):
# Assuming you have created a warped binary image called "binary_warped"
# Take a histogram of the bottom half of the image
histogram = np.sum(binary_warped[int(binary_warped.shape[0]/2):,:], axis=0)
# Create an output image to draw on and visualize the result
out_img = np.dstack((binary_warped, binary_warped, binary_warped))*255
# Find the peak of the left and right halves of the histogram
# These will be the starting point for the left and right lines
midpoint = np.int(histogram.shape[0]/2)
leftx_base = np.argmax(histogram[:midpoint])
rightx_base = np.argmax(histogram[midpoint:]) + midpoint
# Choose the number of sliding windows
nwindows = 9
# Set height of windows
window_height = np.int(binary_warped.shape[0]/nwindows)
# Identify the x and y positions of all nonzero pixels in the image
nonzero = binary_warped.nonzero()
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
# Current positions to be updated for each window
leftx_current = leftx_base
rightx_current = rightx_base
# Set the width of the windows +/- margin
margin = 100
# Set minimum number of pixels found to recenter window
minpix = 50
# Create empty lists to receive left and right lane pixel indices
left_lane_inds = []
right_lane_inds = []
# Step through the windows one by one
for window in range(nwindows):
# Identify window boundaries in x and y (and right and left)
win_y_low = binary_warped.shape[0] - (window+1)*window_height
win_y_high = binary_warped.shape[0] - window*window_height
win_xleft_low = leftx_current - margin
win_xleft_high = leftx_current + margin
win_xright_low = rightx_current - margin
win_xright_high = rightx_current + margin
# Draw the windows on the visualization image
cv2.rectangle(out_img,(win_xleft_low,win_y_low),(win_xleft_high,win_y_high),
(0,255,0), 2)
cv2.rectangle(out_img,(win_xright_low,win_y_low),(win_xright_high,win_y_high),
(0,255,0), 2)
# Identify the nonzero pixels in x and y within the window
good_left_inds = ((nonzeroy >= win_y_low) & (nonzeroy < win_y_high) &
(nonzerox >= win_xleft_low) & (nonzerox < win_xleft_high)).nonzero()[0]
good_right_inds = ((nonzeroy >= win_y_low) & (nonzeroy < win_y_high) &
(nonzerox >= win_xright_low) & (nonzerox < win_xright_high)).nonzero()[0]
# Append these indices to the lists
left_lane_inds.append(good_left_inds)
right_lane_inds.append(good_right_inds)
# If you found > minpix pixels, recenter next window on their mean position
if len(good_left_inds) > minpix:
leftx_current = np.int(np.mean(nonzerox[good_left_inds]))
if len(good_right_inds) > minpix:
rightx_current = np.int(np.mean(nonzerox[good_right_inds]))
# Concatenate the arrays of indices
left_lane_inds = np.concatenate(left_lane_inds)
right_lane_inds = np.concatenate(right_lane_inds)
# Extract left and right line pixel positions
leftx = nonzerox[left_lane_inds]
lefty = nonzeroy[left_lane_inds]
rightx = nonzerox[right_lane_inds]
righty = nonzeroy[right_lane_inds]
# Fit a second order polynomial to each
left_fit = np.polyfit(lefty, leftx, 2)
right_fit = np.polyfit(righty, rightx, 2)
# Generate x and y values for plotting
ploty = np.linspace(0, binary_warped.shape[0]-1, binary_warped.shape[0] )
left_fitx = left_fit[0]*ploty**2 + left_fit[1]*ploty + left_fit[2]
right_fitx = right_fit[0]*ploty**2 + right_fit[1]*ploty + right_fit[2]
out_img[nonzeroy[left_lane_inds], nonzerox[left_lane_inds]] = [255, 0, 0]
out_img[nonzeroy[right_lane_inds], nonzerox[right_lane_inds]] = [0, 0, 255]
return out_img, left_fit, right_fit
In [9]:
# Copied from lesson
window_width = 50
window_height = 50 # Break image into 9 vertical layers since image height is 720
margin = 100 # How much to slide left and right for searching
def window_mask(width, height, img_ref, center,level):
output = np.zeros_like(img_ref)
output[int(img_ref.shape[0]-(level+1)*height):int(img_ref.shape[0]-level*height),max(0,int(center-width/2)):min(int(center+width/2),img_ref.shape[1])] = 1
return output
def find_window_centroids(image, window_width, window_height, margin):
window_centroids = [] # Store the (left,right) window centroid positions per level
window = np.ones(window_width) # Create our window template that we will use for convolutions
# First find the two starting positions for the left and right lane by using np.sum to get the vertical image slice
# and then np.convolve the vertical image slice with the window template
# Sum quarter bottom of image to get slice, could use a different ratio
l_sum = np.sum(image[int(3*image.shape[0]/4):,:int(image.shape[1]/2)], axis=0)
l_center = np.argmax(np.convolve(window,l_sum))-window_width/2
r_sum = np.sum(image[int(3*image.shape[0]/4):,int(image.shape[1]/2):], axis=0)
r_center = np.argmax(np.convolve(window,r_sum))-window_width/2+int(image.shape[1]/2)
# Add what we found for the first layer
window_centroids.append((l_center,r_center))
# Go through each layer looking for max pixel locations
for level in range(1,(int)(image.shape[0]/window_height)):
# convolve the window into the vertical slice of the image
image_layer = np.sum(image[int(image.shape[0]-(level+1)*window_height):int(image.shape[0]-level*window_height),:], axis=0)
conv_signal = np.convolve(window, image_layer)
# Find the best left centroid by using past left center as a reference
# Use window_width/2 as offset because convolution signal reference is at right side of window, not center of window
offset = window_width/2
l_min_index = int(max(l_center+offset-margin,0))
l_max_index = int(min(l_center+offset+margin,image.shape[1]))
l_center = np.argmax(conv_signal[l_min_index:l_max_index])+l_min_index-offset
# Find the best right centroid by using past right center as a reference
r_min_index = int(max(r_center+offset-margin,0))
r_max_index = int(min(r_center+offset+margin,image.shape[1]))
r_center = np.argmax(conv_signal[r_min_index:r_max_index])+r_min_index-offset
# Add what we found for that layer
window_centroids.append((l_center,r_center))
return window_centroids
def SlidingWindowSearch(warped):
window_centroids = find_window_centroids(warped, window_width, window_height, margin)
# If we found any window centers
if len(window_centroids) > 0:
# Points used to draw all the left and right windows
l_points = np.zeros_like(warped)
r_points = np.zeros_like(warped)
# Go through each level and draw the windows
for level in range(0,len(window_centroids)):
# Window_mask is a function to draw window areas
l_mask = window_mask(window_width,window_height,warped,window_centroids[level][0],level)
r_mask = window_mask(window_width,window_height,warped,window_centroids[level][1],level)
# Add graphic points from window mask here to total pixels found
l_points[(l_points == 255) | ((l_mask == 1) ) ] = 255
r_points[(r_points == 255) | ((r_mask == 1) ) ] = 255
# Draw the results
template = np.array(r_points+l_points,np.uint8) # add both left and right window pixels together
zero_channel = np.zeros_like(template) # create a zero color channel
template = np.array(cv2.merge((zero_channel,template,zero_channel)),np.uint8) # make window pixels green
warpage= np.dstack((warped, warped, warped))*255 # making the original road pixels 3 color channels
output = cv2.addWeighted(warpage, 1, template, 0.5, 0.0) # overlay the orignal road image with window results
# If no window centers found, just display orginal road image
else:
output = np.array(cv2.merge((warped,warped,warped)),np.uint8)
return output
In [10]:
def Sobel(img, thresh_min=25, thresh_max=255):
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
# Sobel x
sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0) # Take the derivative in x
abs_sobelx = np.absolute(sobelx) # Absolute x derivative to accentuate lines away from horizontal
scaled_sobel = np.uint8(255. * abs_sobelx / np.max(abs_sobelx))
# Threshold x gradient
# thresh_min = 20
# thresh_max = 100
sxbinary = np.zeros_like(scaled_sobel)
sxbinary[(scaled_sobel >= thresh_min) & (scaled_sobel <= thresh_max)] = 1
# plt.show()
# plt.imshow(sxbinary)
return sxbinary
In [11]:
# From Project 1
def LineFiltering(img_rgb, color_space):
if color_space is "HSV":
# convert image to hsv space
img_hsv = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2HSV)
(img_h, img_s, img_v) = cv2.split(img_hsv)
dis_hsv = np.hstack((img_h, img_s, img_v))
if show_debug_info:
plt.show()
plt.title("Images in HSV Color Space")
plt.imshow(dis_hsv)
# Filter out lanes in HSV color space
# yellow lane
y_lower = np.array([10, 70, 120])
y_upper = np.array([50, 255, 255])
img_y = cv2.inRange(img_hsv, y_lower, y_upper)
if show_debug_info:
plt.show()
plt.title("Detection of Yellow Lane in HSV Color Space")
plt.imshow(img_y)
# white lane
w_lower = np.array([0, 0, 200])
w_upper = np.array([255, 70, 255])
img_w = cv2.inRange(img_hsv, w_lower, w_upper)
if show_debug_info:
plt.show()
plt.title("Detection of White Lane in HSV Color Space")
plt.imshow(img_w)
return cv2.bitwise_or(img_y, img_w)
elif color_space is "RGB":
img_gray = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2GRAY)
ret, img_gray_th = cv2.threshold(img_gray, 150, 255, cv2.THRESH_BINARY)
if show_debug_info:
plt.show()
plt.title("Detection of Lanes in Gray Image")
plt.imshow(img_gray_th)
return img_gray_th
elif color_space is "HSL":
# convert image to hsl color space
img_hls = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2HLS)
(img_h, img_l, img_s) = cv2.split(img_hls)
dis_hsl = np.hstack((img_h, img_s, img_l))
if show_debug_info:
plt.show()
plt.title("Images in HSL Color Space")
plt.imshow(dis_hsl)
# Filter out lanes in HSV color space
# yellow lane
y_lower = np.array([10, 100, 100])
y_upper = np.array([70, 255, 255])
img_y = cv2.inRange(img_hls, y_lower, y_upper)
if show_debug_info:
plt.show()
plt.title("Detection of Yellow Lane in HSL Color Space")
plt.imshow(img_y)
# white lane
w_lower = np.array([0, 200, 0])
w_upper = np.array([255, 255, 255])
img_w = cv2.inRange(img_hls, w_lower, w_upper)
if show_debug_info:
plt.show()
plt.title("Detection of White Lane in HSL Color Space")
plt.imshow(img_w)
return cv2.bitwise_or(img_y, img_w)
def FindLineModel(x, y):
mean_x = sum(x) / len(x)
mean_y = sum(y) / len(y)
k = sum((x_i - mean_x) * (y_i - mean_y) for x_i, y_i in zip(x, y)) / sum((x_i - mean_x)**2 for x_i in x)
m = mean_y - k * mean_x
return k, m
import sys
def DistanceFromLine(x, y, l_slope, l_intercept):
dx = x - (y - l_intercept) / (l_slope + sys.float_info.epsilon)
dy = y - (l_slope * x + l_intercept)
return math.sqrt(dx**2 + dy**2)
def LineFitting(pts):
n = 3
num_iter = 20
thresh = 30
ratio = 0.6
error = 1000000
best_slope = 1
best_intercept = 0
if pts.shape[0] < n:
return FindLineModel(pts[:, 0], pts[:, 1])
for i in range(num_iter):
rnd_list = np.arange(pts.shape[0])
np.random.shuffle(rnd_list)
inlier_maybe = pts[rnd_list[:n]]
inlier_also = []
pt_others = pts[rnd_list[n:]]
l_slope, l_intercept = FindLineModel(inlier_maybe[:, 0], inlier_maybe[:, 1])
for pt in pt_others:
if DistanceFromLine(pt[0], pt[1], l_slope, l_intercept) < thresh:
inlier_also.append((pt[0], pt[1]))
inlier_also = np.array(inlier_also)
if inlier_also.shape[0] / pt_others.shape[0] > ratio:
inlier = np.row_stack((inlier_maybe, inlier_also))
l_s, l_i = FindLineModel(inlier[:, 0], inlier[:, 1])
err_sum = 0
for pt in inlier:
err_sum += DistanceFromLine(pt[0], pt[1], l_s, l_i)
if err_sum < error:
error = err_sum
best_slope = l_s
best_intercept = l_i
return best_slope, best_intercept
def region_of_interest(img, vertices):
"""
Applies an image mask.
Only keeps the region of the image defined by the polygon
formed from `vertices`. The rest of the image is set to black.
"""
#defining a blank mask to start with
mask = np.zeros_like(img)
#defining a 3 channel or 1 channel color to fill the mask with depending on the input image
if len(img.shape) > 2:
channel_count = img.shape[2] # i.e. 3 or 4 depending on your image
ignore_mask_color = (255,) * channel_count
else:
ignore_mask_color = 255
#filling pixels inside the polygon defined by "vertices" with the fill color
cv2.fillPoly(mask, vertices, ignore_mask_color)
#returning the image only where mask pixels are nonzero
masked_image = cv2.bitwise_and(img, mask)
return masked_image
In [12]:
# Undistort & Transform image
def ImagePreprocess(img, nx, ny, mtx, dist):
img_undist = cv2.undistort(img, mtx, dist, None, mtx)
img_undist_grey = cv2.cvtColor(img_undist, cv2.COLOR_BGR2GRAY)
# ROI from Project 1 and adjust roi_y_min to make straight line straight
roi_y_min = rows * 0.62
roi_x_min = cols * 0.45
roi_x_max = cols * 0.55
pt_src = np.array([
[0, rows],
[roi_x_min, roi_y_min],
[roi_x_max, roi_y_min],
[cols, rows]], np.float32)
ratio_x = 0.35
pt_dst = np.array([
[ratio_x * cols, 1.0 * rows],
[ratio_x * cols, 0.0 * rows],
[(1. - ratio_x) * cols, 0.0 * rows],
[(1. - ratio_x) * cols, 1.0 * rows]], np.float32)
M = cv2.getPerspectiveTransform(pt_src, pt_dst)
M_inv = cv2.getPerspectiveTransform(pt_dst, pt_src)
# M = np.array(M, np.float64)
# M_inv = np.array(M_inv, np.float64)
# print(M)
# print(M_inv)
img_size = (cols, rows)
# print(img_size)
img_warp = cv2.warpPerspective(img_undist, M, img_size, flags=cv2.INTER_LINEAR)
return img_warp, M, M_inv
In [13]:
def Process(img):
# NOTE: The output you return should be a color image (3 channel) for processing video below
# TODO: put your pipeline here,
# you should return the final output (image where lines are drawn on lanes)
# Use tuned ROI to filter unrelated stuffs in image under this camera
# assume strong constraint: car is centered in the lane
rows = img.shape[0]
cols = img.shape[1]
# image preprocessing (warping, color filter)
top_down, M, M_inv = ImagePreprocess(img, nx, ny, mtx, dist)
img_th = LineFiltering(top_down, "HSL")
# Sobel
img_sobel = np.array(Sobel(top_down, 20, 100), np.uint8)
# Sobel + color
img_comb = cv2.bitwise_or(img_th, img_sobel * 255)
# ROI to filter irrelovant info
ratio_x = 0.25
vertices = np.array([[
(ratio_x * cols, 1.0 * rows),
(ratio_x * cols, 0.0 * rows),
((1. - ratio_x) * cols, 0.0 * rows),
((1. - ratio_x) * cols, 1.0 * rows)]], np.int32)
img_comb = region_of_interest(img_comb, vertices)
test_images_fil.append(img_comb)
# Sliding window to detect lane line
ploty = np.linspace(0, img_comb.shape[0]-1, img_comb.shape[0])
line_detect = SlidingWindowSearch(img_comb)
out_img, left_fit, right_fit = SWS(img_comb)
# Find curvatures
left_curverad, right_curverad, left_fitx, right_fitx = FindCurvature(left_fit, right_fit, ploty)
# check if car is on the center or not
CarDeviation(img_comb.shape[1] * 0.5, left_fit, right_fit)
img_ori = img.copy()
img_draw = DrawInfoOri(img_ori, left_fit, right_fit, M_inv)
if show_debug_info:
f, axes = plt.subplots(2, 5, figsize=(24, 9))
f.tight_layout()
font_size = 20
axes[0, 0].imshow(img)
axes[0, 0].set_title('Original Image', fontsize=font_size)
axes[0, 1].imshow(top_down)
axes[0, 1].set_title('Transformed Image', fontsize=font_size)
axes[0, 2].imshow(img_th)
axes[0, 2].set_title("Detection of Lanes", fontsize=font_size)
axes[0, 3].imshow(img_sobel)
axes[0, 3].set_title("Sobel X", fontsize=font_size)
axes[0, 4].imshow(img_comb)
axes[0, 4].set_title("Combination", fontsize=font_size)
axes[1, 0].imshow(out_img)
axes[1, 0].plot(left_fitx, ploty, color='yellow')
axes[1, 0].plot(right_fitx, ploty, color='yellow')
axes[1, 1].imshow(line_detect)
axes[1, 1].set_title("Detection", fontsize=font_size)
axes[1, 2].imshow(img_draw)
plt.subplots_adjust(left=0., right=1, top=0.9, bottom=0.)
return img_draw
In [14]:
test_images = []
global rows, cols
for file in glob.glob("./test_images/*.jpg"):
img = cv2.imread(file)
rows = img.shape[0]
cols = img.shape[1]
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
test_images.append(img)
top_down, M, M_inv = ImagePreprocess(img, nx, ny, mtx, dist)
f, axes = plt.subplots(1, 2, figsize=(24, 9))
f.tight_layout()
font_size = 20
axes[0].imshow(img)
axes[0].set_title('Original Image', fontsize=font_size)
axes[1].imshow(top_down)
axes[1].set_title('Transformed Image', fontsize=font_size)
# cv2.imwrite("./test_images/t.jpg", top_down)
break
test_images_fil = []
In [15]:
for img in test_images:
Process(img)
In [16]:
# Import everything needed to edit/save/watch video clips
from moviepy.editor import VideoFileClip
from IPython.display import HTML
In [17]:
output_dir = 'test_videos_output/'
if not os.path.exists(output_dir):
os.makedirs(output_dir)
In [18]:
video_name = 'project_video.mp4'
white_output = output_dir + video_name
## To speed up the testing process you may want to try your pipeline on a shorter subclip of the video
## To do so add .subclip(start_second,end_second) to the end of the line below
## Where start_second and end_second are integer values representing the start and end of the subclip
## You may also uncomment the following line for a subclip of the first 5 seconds
## clip1 = VideoFileClip("test_videos/solidWhiteRight.mp4").subclip(0,5)
clip1 = VideoFileClip("./" + video_name)
white_clip = clip1.fl_image(Process) #NOTE: this function expects color images!!
%time white_clip.write_videofile(white_output, audio=False)
In [19]:
HTML("""
<video width="960" height="540" controls>
<source src="{0}">
</video>
""".format(white_output))
Out[19]: